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Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints
Ahan Basu, Ratnangshu Das, Soumyodipta Nath +2
This paper presents a Spatiotemporal Tube (STT)-based control framework for general unknown nonlinear Euler-Lagrange (EL) systems subject to input constraints, with the objective o…
A Reactive Redistribution Mechanism for STL Tasks in Multi-Agent Systems Under Time-Varying Communication
Gregorio Marchesini, Bjarne Jan Jesse Moro, Siyuan Liu +2
We present a communication-aware task decomposition framework for multi-agent systems with collaborative relative configuration objectives specified in Signal Temporal Logic (STL),…
Observer-based Control of Multi-agent Systems under STL Specifications
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
This paper proposes a decentralized controller for large-scale heterogeneous multi-agent systems subject to bounded external disturbances, where agents must satisfy Signal Temporal…